  @manual{ cr2008,
  organization = "Universidade de Aveiro",
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  year = "2007",
  month = "November"
  }
 
 @article{yam,
 author = "Pedro Ribeiro",
 title = "{YAM} ({Y}et {A}nother {M}ouse) - {U}m Robot Virtual com Planeamento de Caminho a Longo Prazo",
 journal = "Revista do DETUA",
 year = "2002",
 volume = "3",
 number = "7",
 pages = "pp. 672-674",
 month = "September"
 }
 
 @article{konolige,
 author = "K. Konolige",
 title = "Improved occupancy grids for map building",
 journal = "Autonomous Robots",
 year = "1997",
 volume = "4",
 number = "4",
 pages = "pp. 351-367",
 }
 
 @ARTICLE{bayes, 
title={Using occupancy grids for mobile robot perception and navigation }, 
author={Elfes, A.}, 
journal={Computer}, 
year={Jun 1989}, 
volume={22}, 
number={6}, 
pages={46-57}, 
keywords={Bayes methods, computerised navigation, mobile robotsBayesian estimation, cell state estimates, mobile robot perception, multidimensional random field, multiple points of view, navigation, occupancy grid, path planning, probabilistic sensor models, probabilistic tesselated representation, range readings, sensor integration, sensor-derived map, single scanline stereo, sonar based mapping, spatial information, spatial lattice, world modeling}, 
doi={10.1109/2.30720}, 
ISSN={0018-9162}, }

@article{astar,
 author = {Rina Dechter and Judea Pearl},
 title = {Generalized best-first search strategies and the optimality af A*},
 journal = {J. ACM},
 volume = {32},
 number = {3},
 year = {1985},
 issn = {0004-5411},
 pages = {505--536},
 doi = {http://doi.acm.org/10.1145/3828.3830},
 publisher = {ACM},
 address = {New York, NY, USA},
 }

 
 